OpenRaiser/Intern-Atlas huggingface dataset:
Framework for Formal Modelling of Metaverse Applications Using Hierarchical Colored Petri Nets
Venue: arXiv cs.ET 2025
Year: 2025

The Metaverse emerges by integrating highly-distributed, complex, and interconnecting technologies. These technologies need to be formally verified and evaluated through formal modelling before executing them in real-world applications, in order to avoid negative impacts on the real world due to failure of the Metaverse technologies. However, the formal modelling of Metaverse technologies is challenging due to its highly complex nature. Therefore, a comprehensive formal verification of the Metaverse technologies is needed for its realization in multiple potential areas. In this study, a framework is proposed for the formal modelling of Metaverse technologies, which allows holistic insights for all applications of Metaverse technologies. By utilizing the proposed framework, Metaverse applications of any complexity can be modeled. The working of the proposed framework is illustrated by modelling a case study of an Air Traffic Control system. In the proposed framework, we utilize hierarchical colored Petri nets for formal modelling of behavior of the air traffic control system. The correctness of air traffic control system properties, such as liveness, reachability, and boundedness, is verified in the proposed framework. The results of the case study reveal that the proposed framework can be used as a template for mathematical verification of challenging and complex Metaverse applications. The results also show that formal modelling provides an effective tool for identifying flaws in the early phases of the design of Metaverse applications. The implication of using formal verification is that it can increase confidence about the correctness of the Metaverse applications.
Simulating Sinogram-Domain Motion and Correcting Image-Domain Artifacts Using Deep Learning in HR-pQCT Bone Imaging
Venue: arXiv cs.CV 2025
Year: 2025

Rigid-motion artifacts, such as cortical bone streaking and trabecular smearing, hinder in vivo assessment of bone microstructures in high-resolution peripheral quantitative computed tomography (HR-pQCT). Despite various motion grading techniques, no motion correction methods exist due to the lack of standardized degradation models. We optimize a conventional sinogram-based method to simulate motion artifacts in HR-pQCT images, creating paired datasets of motion-corrupted images and their corresponding ground truth, which enables seamless integration into supervised learning frameworks for motion correction. As such, we propose an Edge-enhanced Self-attention Wasserstein Generative Adversarial Network with Gradient Penalty (ESWGAN-GP) to address motion artifacts in both simulated (source) and real-world (target) datasets. The model incorporates edge-enhancing skip connections to preserve trabecular edges and self-attention mechanisms to capture long-range dependencies, facilitating motion correction. A visual geometry group (VGG)-based perceptual loss is used to reconstruct fine micro-structural features. The ESWGAN-GP achieves a mean signal-to-noise ratio (SNR) of 26.78, structural similarity index measure (SSIM) of 0.81, and visual information fidelity (VIF) of 0.76 for the source dataset, while showing improved performance on the target dataset with an SNR of 29.31, SSIM of 0.87, and VIF of 0.81. The proposed methods address a simplified representation of real-world motion that may not fully capture the complexity of in vivo motion artifacts. Nevertheless, because motion artifacts present one of the foremost challenges to more widespread adoption of this modality, these methods represent an important initial step toward implementing deep learning-based motion correction in HR-pQCT.
The Psychogenic Machine: Simulating AI Psychosis, Delusion Reinforcement and Harm Enablement in Large Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Background: Emerging reports of "AI psychosis" are on the rise, where user-LLM interactions may exacerbate or induce psychosis or adverse psychological symptoms. Whilst the sycophantic and agreeable nature of LLMs can be beneficial, it becomes a vector for harm by reinforcing delusional beliefs in vulnerable users. Methods: Psychosis-bench is a novel benchmark designed to systematically evaluate the psychogenicity of LLMs comprises 16 structured, 12-turn conversational scenarios simulating the progression of delusional themes(Erotic Delusions, Grandiose/Messianic Delusions, Referential Delusions) and potential harms. We evaluated eight prominent LLMs for Delusion Confirmation (DCS), Harm Enablement (HES), and Safety Intervention(SIS) across explicit and implicit conversational contexts. Findings: Across 1,536 simulated conversation turns, all LLMs demonstrated psychogenic potential, showing a strong tendency to perpetuate rather than challenge delusions (mean DCS of 0.91 $\pm$0.88). Models frequently enabled harmful user requests (mean HES of 0.69 $\pm$0.84) and offered safety interventions in only roughly a third of applicable turns (mean SIS of 0.37 $\pm$0.48). 51 / 128 (39.8%) of scenarios had no safety interventions offered. Performance was significantly worse in implicit scenarios, models were more likely to confirm delusions and enable harm while offering fewer interventions (p < .001). A strong correlation was found between DCS and HES (rs = .77). Model performance varied widely, indicating that safety is not an emergent property of scale alone. Conclusion: This study establishes LLM psychogenicity as a quantifiable risk and underscores the urgent need for re-thinking how we train LLMs. We frame this issue not merely as a technical challenge but as a public health imperative requiring collaboration between developers, policymakers, and healthcare professionals.
Autonomous Close-Proximity Photovoltaic Panel Coating Using a Quadcopter
Venue: arXiv cs.RO 2025
Year: 2025

Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self-cleaning coatings enhance panel performance but degrade over time, requiring periodic reapplication. Uncrewed Aerial Vehicles (UAVs) offer a flexible and autonomous way to apply protective coatings more often and at lower cost compared to traditional manual coating methods. In this letter, we propose a quadcopter-based system, equipped with a liquid dispersion mechanism, designed to automate such tasks. The localization stack only uses onboard sensors, relying on visual-inertial odometry and the relative position of the PV panel detected with respect to the quadcopter. The control relies on a model-based controller that accounts for the ground effect and the mass decrease of the quadcopter during liquid dispersion. We validate the autonomy capabilities of our system through extensive indoor and outdoor experiments.
Strategic Cyber Defense via Reinforcement Learning-Guided Combinatorial Auctions
Venue: arXiv cs.GT 2025
Year: 2025

Cyber defense operations increasingly require long-term strategic planning under uncertainty and resource constraints. We propose a new use of combinatorial auctions for allocating defensive action bundles in a realistic cyber environment, using host-specific valuations derived from reinforcement learning (RL) Q-values. These Q-values encode long-term expected utility, allowing upstream planning. We train CAFormer, a differentiable Transformer-based auction mechanism, to produce allocations that are approximately incentive-compatible under misreporting. Rather than benchmarking against existing agents, we explore the qualitative and strategic properties of the learned mechanisms. Compared to oracle and heuristic allocations, our method achieves competitive revenue while offering robustness to misreporting. In addition, we find that allocation patterns correlate with adversarial and defensive activity, suggesting implicit alignment with operational priorities. Our results demonstrate the viability of auction-based planning in cyber defense and highlight the interpretability benefits of RL-derived value structures.
Policy-Driven Transfer Learning in Resource-Limited Animal Monitoring
Venue: arXiv cs.CV 2025
Year: 2025

Animal health monitoring and population management are critical aspects of wildlife conservation and livestock management that increasingly rely on automated detection and tracking systems. While Unmanned Aerial Vehicle (UAV) based systems combined with computer vision offer promising solutions for non-invasive animal monitoring across challenging terrains, limited availability of labeled training data remains an obstacle in developing effective deep learning (DL) models for these applications. Transfer learning has emerged as a potential solution, allowing models trained on large datasets to be adapted for resource-limited scenarios such as those with limited data. However, the vast landscape of pre-trained neural network architectures makes it challenging to select optimal models, particularly for researchers new to the field. In this paper, we propose a reinforcement learning (RL)-based transfer learning framework that employs an upper confidence bound (UCB) algorithm to automatically select the most suitable pre-trained model for animal detection tasks. Our approach systematically evaluates and ranks candidate models based on their performance, streamlining the model selection process. Experimental results demonstrate that our framework achieves a higher detection rate while requiring significantly less computational time compared to traditional methods.
Multi-objective task allocation for electric harvesting robots: a hierarchical route reconstruction approach
Venue: arXiv cs.RO 2025
Year: 2025

The increasing labor costs in agriculture have accelerated the adoption of multi-robot systems for orchard harvesting. However, efficiently coordinating these systems is challenging due to the complex interplay between makespan and energy consumption, particularly under practical constraints like load-dependent speed variations and battery limitations. This paper defines the multi-objective agricultural multi-electrical-robot task allocation (AMERTA) problem, which systematically incorporates these often-overlooked real-world constraints. To address this problem, we propose a hybrid hierarchical route reconstruction algorithm (HRRA) that integrates several innovative mechanisms, including a hierarchical encoding structure, a dual-phase initialization method, task sequence optimizers, and specialized route reconstruction operators. Extensive experiments on 45 test instances demonstrate HRRA's superior performance against seven state-of-the-art algorithms. Statistical analysis, including the Wilcoxon signed-rank and Friedman tests, empirically validates HRRA's competitiveness and its unique ability to explore previously inaccessible regions of the solution space. In general, this research contributes to the theoretical understanding of multi-robot coordination by offering a novel problem formulation and an effective algorithm, thereby also providing practical insights for agricultural automation.
Free-MAD: Consensus-Free Multi-Agent Debate
Venue: arXiv cs.AI 2025
Year: 2025

Multi-agent debate (MAD) is an emerging approach to improving the reasoning capabilities of large language models (LLMs). Existing MAD methods rely on multiple rounds of interaction among agents to reach consensus, and the final output is selected by majority voting in the last round. However, this consensus-based design faces several limitations. First, multiple rounds of communication increases token overhead and limits scalability. Second, due to the inherent conformity of LLMs, agents that initially produce correct responses may be influenced by incorrect ones during the debate process, causing error propagation. Third, majority voting introduces randomness and unfairness in the decision-making phase, and can degrade the reasoning performance. To address these issues, we propose \textsc{Free-MAD}, a novel MAD framework that eliminates the need for consensus among agents. \textsc{Free-MAD} introduces a novel score-based decision mechanism that evaluates the entire debate trajectory rather than relying on the last round only. This mechanism tracks how each agent's reasoning evolves, enabling more accurate and fair outcomes. In addition, \textsc{Free-MAD} reconstructs the debate phase by introducing anti-conformity, a mechanism that enables agents to mitigate excessive influence from the majority. Experiments on eight benchmark datasets demonstrate that \textsc{Free-MAD} significantly improves reasoning performance while requiring only a single-round debate and thus reducing token costs. We also show that compared to existing MAD approaches, \textsc{Free-MAD} exhibits improved robustness in real-world attack scenarios.
Rate-Distortion Limits for Multimodal Retrieval: Theory, Optimal Codes, and Finite-Sample Guarantees
Venue: arXiv cs.IT 2025
Year: 2025

We establish the first information-theoretic limits for multimodal retrieval. Casting ranking as lossy source coding, we derive a single-letter rate-distortion function $R(D)$ for reciprocal-rank distortion and prove a converse bound that splits into a modality-balanced term plus a skew penalty $κ\,ΔH$ capturing entropy imbalance and cross-modal redundancy. We then construct an explicit entropy-weighted stochastic quantizer with an adaptive, per-modality temperature decoder; a Blahut-Arimoto argument shows this scheme achieves distortion within $O(n^{-1})$ of $R(D)$ using $n$ training triples. A VC-type analysis yields the first finite-sample excess-risk bound whose complexity scales sub-linearly in both the number of modalities and the entropy gap. Experiments on controlled Gaussian mixtures and Flickr30k confirm that our adaptive codes sit within two percentage points of the theoretical frontier, while fixed-temperature and naive CLIP baselines lag significantly. Taken together, our results give a principled answer to "how many bits per query are necessary" for high-quality multimodal retrieval and provide design guidance for entropy-aware contrastive objectives, continual-learning retrievers, and retrieval-augmented generators.
Multi-Modal Sensing Aided mmWave Beamforming for V2V Communications with Transformers
Venue: arXiv cs.NI 2025
Year: 2025

Beamforming techniques are utilized in millimeter wave (mmWave) communication to address the inherent path loss limitation, thereby establishing and maintaining reliable connections. However, adopting standard defined beamforming approach in highly dynamic vehicular environments often incurs high beam training overheads and reduces the available airtime for communications, which is mainly due to exchanging pilot signals and exhaustive beam measurements. To this end, we present a multi-modal sensing and fusion learning framework as a potential alternative solution to reduce such overheads. In this framework, we first extract the features individually from the visual and GPS coordinates sensing modalities by modality specific encoders, and subsequently fuse the multimodal features to obtain predicted top-k beams so that the best line-of-sight links can be proactively established. To show the generalizability of the proposed framework, we perform a comprehensive experiment in four different vehicle-to-vehicle (V2V) scenarios from real-world multi-modal sensing and communication dataset. From the experiment, we observe that the proposed framework achieves up to 77.58% accuracy on predicting top-15 beams correctly, outperforms single modalities, incurs roughly as low as 2.32 dB average power loss, and considerably reduces the beam searching space overheads by 76.56% for top-15 beams with respect to standard defined approach.
"Pragmatic Tools or Empowering Friends?" Discovering and Co-Designing Personality-Aligned AI Writing Companions
Venue: arXiv cs.HC 2025
Year: 2025

The growing popularity of AI writing assistants presents exciting opportunities to craft tools that cater to diverse user needs. This study explores how personality shapes preferences for AI writing companions and how personalized designs can enhance human-AI teaming. In an exploratory co-design workshop, we worked with 24 writers with different profiles to surface ideas and map the design space for personality-aligned AI writing companions, focusing on functionality, interaction dynamics, and visual representations. Building on these insights, we developed two contrasting prototypes tailored to distinct writer profiles and engaged 8 participants with them as provocations to spark reflection and feedback. The results revealed strong connections between writer profiles and feature preferences, providing proof-of-concept for personality-driven divergence in AI writing support. This research highlights the critical role of team match in human-AI collaboration and underscores the importance of aligning AI systems with individual cognitive needs to improve user engagement and collaboration productivity.
GFS: A Preemption-aware Scheduling Framework for GPU Clusters with Predictive Spot Instance Management
Venue: arXiv cs.DC 2025
Year: 2025

The surge in large language models (LLMs) has fundamentally reshaped the landscape of GPU usage patterns, creating an urgent need for more efficient management strategies. While cloud providers employ spot instances to reduce costs for low-priority (LP) tasks, existing schedulers still grapple with high eviction rates and lengthy queuing times. To address these limitations, we present GFS, a novel preemptive scheduling framework that enhances service-level objective (SLO) compliance for high-priority (HP) tasks while minimizing preemptions to LP tasks. Firstly, GFS utilizes a lightweight forecasting model that predicts GPU demand among different tenants, enabling proactive resource management. Secondly, GFS employs a dynamic allocation mechanism to adjust the spot quota for LP tasks with guaranteed durations. Lastly, GFS incorporates a preemptive scheduling policy that prioritizes HP tasks while minimizing the impact on LP tasks. We demonstrate the effectiveness of GFS through both real-world implementation and simulations. The results show that GFS reduces eviction rates by 33.0\%, and cuts queuing delays by 44.1\% for LP tasks. Furthermore, GFS enhances the GPU allocation rate by up to 22.8\% in real production clusters. In a production cluster of more than 10,000 GPUs, GFS yields roughly \$459,715 in monthly benefits.
On the Feasibility of Inter-Flow Service Degradation Detection
Venue: arXiv cs.NI 2025
Year: 2025

Hardware acceleration in modern networks creates monitoring blind spots by offloading flows to a non-observable state, hindering real-time service degradation (SD) detection. To address this, we propose and formalize a novel inter-flow correlation framework, built on the hypothesis that observable flows can act as environmental sensors for concurrent, non-observable flows. We conduct a comprehensive statistical analysis of this inter-flow landscape, revealing a fundamental trade-off: while the potential for correlation is vast, the most explicit signals (i.e., co-occurring SD events) are sparse and rarely perfectly align. Critically, however, our analysis shows these signals frequently precede degradation in the target flow, validating the potential for timely detection. We then evaluate the framework using a standard machine learning model. While the model achieves high classification accuracy, a feature-importance analysis reveals it relies primarily on simpler intra-flow features. This key finding demonstrates that harnessing the complex contextual information requires more than simple models. Our work thus provides not only a foundational analysis of the inter-flow problem but also a clear outline for future research into the structure-aware models needed to solve it.
Text2Mem: A Unified Memory Operation Language for Memory Operating System
Venue: arXiv cs.CL 2025
Year: 2025

Large language model agents increasingly depend on memory to sustain long horizon interaction, but existing frameworks remain limited. Most expose only a few basic primitives such as encode, retrieve, and delete, while higher order operations like merge, promote, demote, split, lock, and expire are missing or inconsistently supported. Moreover, there is no formal and executable specification for memory commands, leaving scope and lifecycle rules implicit and causing unpredictable behavior across systems. We introduce Text2Mem, a unified memory operation language that provides a standardized pathway from natural language to reliable execution. Text2Mem defines a compact yet expressive operation set aligned with encoding, storage, and retrieval. Each instruction is represented as a JSON based schema instance with required fields and semantic invariants, which a parser transforms into typed operation objects with normalized parameters. A validator ensures correctness before execution, while adapters map typed objects either to a SQL prototype backend or to real memory frameworks. Model based services such as embeddings or summarization are integrated when required. All results are returned through a unified execution contract. This design ensures safety, determinism, and portability across heterogeneous backends. We also outline Text2Mem Bench, a planned benchmark that separates schema generation from backend execution to enable systematic evaluation. Together, these components establish the first standardized foundation for memory control in agents.
RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems
Venue: arXiv cs.RO 2025
Year: 2025

Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid dynamics. Classical model-based methods offer stability guarantees but require extensive tuning and often fail to adapt when the configuration changes-when a payload is added or removed, or when its mass or cable length varies. We present RoVerFly, a unified learning-based control framework where a single reinforcement learning (RL) policy functions as an implicit hybrid controller, managing complex dynamics without explicit mode detection or controller switching. Trained with task and domain randomization, the controller is resilient to disturbances and varying dynamics. It achieves strong zero-shot generalization across payload settings-including no payload as well as varying mass and cable length-without re-tuning, while retaining the interpretability and structure of a feedback tracking controller. Code and supplementary materials are available at https://github.com/mintaeshkim/roverfly.